Doctoral Research · Space Robotics Inspection with a Free-Flying Space Manipulator
A Doctoral Research Journal Aerospace Engineering

CHAIN_13 L4 v2 — event-centered switch-transient adjudication

Rule registered (51571a1) BEFORE this metric was computed; see tasks/chain13_criteria.md ‘L4 v2 rule’ for provenance (the v1 rule’s window-exit caveat motivated this; v1 stands as recorded). δ: ze near events vs seeded matched controls; +1 = pointing error higher near every event than every control sample.

run thaw events thaw δ (adjudicates) hold crossings hold δ (info) A/B sample sizes (thaw)
r0_6dof_path 0 11891 -0.547 0/0
r0_6dof_minus2pct 0 349 -0.119 0/0
r0_6dof_plus2pct 0 4338 -0.588 0/0
r1_7dof_path 47 +0.257 30 +0.612 508/5080
r1_7dof_minus2pct 37 +0.613 6 +0.768 254/2540
r1_7dof_plus2pct 8 +0.933 16 +0.917 88/880
r2_7dof_reactive 62 +0.293 38 +0.370 678/6780
r3_7dof_anchor 59 +0.480 26 +0.647 634/6340

Verdict: L4 NO-GO under v2 — thaw δ ≥ +0.5 on 2/5 7-DOF runs (bar ≥ 3/5).

Control-pool honesty note: r0’s 11,891 hold crossings leave a small far-from-any- transition pool — its hold δ is informational only, per the registration.

regen: /Users/antoniahoffman/miniforge3/envs/new-pin-env/bin/python validation/chain13_l4v2.py